ros-industrial · jwhendy · Mar 14, 2018 · Mar 14, 2018 · Apr 13, 2018 · May 3, 2018
diff --git a/kuka_lbr_iiwa_support/launch/load_lbr_iiwa_14_r820.launch b/kuka_lbr_iiwa_support/launch/load_lbr_iiwa_14_r820.launch
@@ -1,3 +1,4 @@
 <launch>
-  <param name="robot_description" command="$(find xacro)/xacro.py '$(find kuka_lbr_iiwa_support)/urdf/lbr_iiwa_14_r820.xacro'" />
+  <arg name="flange_type" default="basic" />
+  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find kuka_lbr_iiwa_support)/urdf/lbr_iiwa_14_r820.xacro' flange_type:=$(arg flange_type)" />
 </launch>
diff --git a/kuka_lbr_iiwa_support/launch/test_lbr_iiwa_14_r820.launch b/kuka_lbr_iiwa_support/launch/test_lbr_iiwa_14_r820.launch
@@ -1,5 +1,6 @@
 <launch>
-  <include file="$(find kuka_lbr_iiwa_support)/launch/load_lbr_iiwa_14_r820.launch" />
+  <arg name="flange_type" default="basic" />
+  <include file="$(find kuka_lbr_iiwa_support)/launch/load_lbr_iiwa_14_r820.launch" pass_all_args="true" />
   <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
     <param name="use_gui" value="true" />
   </node>

diff --git a/kuka_lbr_iiwa_support/meshes/lbr_iiwa_14_r820/collision/base_link.stl b/kuka_lbr_iiwa_support/meshes/lbr_iiwa_14_r820/collision/base_link.stl
diff --git a/kuka_lbr_iiwa_support/meshes/lbr_iiwa_14_r820/collision/flange_basic.stl b/kuka_lbr_iiwa_support/meshes/lbr_iiwa_14_r820/collision/flange_basic.stl
diff --git a/kuka_lbr_iiwa_support/meshes/lbr_iiwa_14_r820/collision/flange_pneumatic_touch.stl b/kuka_lbr_iiwa_support/meshes/lbr_iiwa_14_r820/collision/flange_pneumatic_touch.stl
diff --git a/kuka_lbr_iiwa_support/meshes/lbr_iiwa_14_r820/collision/link_1.stl b/kuka_lbr_iiwa_support/meshes/lbr_iiwa_14_r820/collision/link_1.stl
diff --git a/kuka_lbr_iiwa_support/meshes/lbr_iiwa_14_r820/collision/link_2.stl b/kuka_lbr_iiwa_support/meshes/lbr_iiwa_14_r820/collision/link_2.stl
diff --git a/kuka_lbr_iiwa_support/meshes/lbr_iiwa_14_r820/collision/link_3.stl b/kuka_lbr_iiwa_support/meshes/lbr_iiwa_14_r820/collision/link_3.stl
diff --git a/kuka_lbr_iiwa_support/meshes/lbr_iiwa_14_r820/collision/link_4.stl b/kuka_lbr_iiwa_support/meshes/lbr_iiwa_14_r820/collision/link_4.stl
diff --git a/kuka_lbr_iiwa_support/meshes/lbr_iiwa_14_r820/collision/link_5.stl b/kuka_lbr_iiwa_support/meshes/lbr_iiwa_14_r820/collision/link_5.stl
diff --git a/kuka_lbr_iiwa_support/meshes/lbr_iiwa_14_r820/collision/link_6.stl b/kuka_lbr_iiwa_support/meshes/lbr_iiwa_14_r820/collision/link_6.stl
diff --git a/kuka_lbr_iiwa_support/meshes/lbr_iiwa_14_r820/collision/link_7.stl b/kuka_lbr_iiwa_support/meshes/lbr_iiwa_14_r820/collision/link_7.stl